Description of StateDWord
The StateDWord is a 32 bit data word in the axis interface NC->SPS. The detailed function of each status bit is described in the table below.
Requirements
Bit | Variable-Name | Description |
|---|---|---|
0 | Operational | Axis is ready for operation |
1 | Homed | Axis has been referenced/ homed ("Axis calibrated") |
2 | NotMoving | Axis is logically stationary ("Axis not moving") |
3 | InPositionArea | Axis is in position window (physical feedback) |
4 | InTargetPosition | Axis is at target position (PEH) (physical feedback) |
5 | Protected | Axis is in a protected operating mode (e.g. as a slave axis) |
6 | ErrorPropagationDelayed | Axis signals an error pre warning (from TC 2.11) |
7 | HasBeenStopped | Axis has been stopped or is presently executing a stop |
8 | HasJob | Axis has instructions, is carrying instructions out |
9 | PositiveDirection | Axis moving to logically larger values |
10 | NegativeDirection | Axis moving to logically smaller values |
11 | HomingBusy | Axis referenced ("Axis being calibrated") |
12 | ConstantVelocity | Axis has reached its constant velocity or rotary speed |
13 | Compensating | Section compensation passive[0]/active[1] (s. "MC_MoveSuperImposed") |
14 | ExtSetPointGenEnabled | External setpoint generator enabled |
15 |
| Operating mode not yet executed (Busy). Not implemented yet! |
16 | ExternalLatchValid | External latch value or sensing switch has become valid |
17 | NewTargetPos | Axis has a new target position or a new velocity |
18 |
| Axis is not at target position or cannot reach the target position (e.g. stop).Not implemented yet! |
19 | ContinuousMotion | Axis has target position (±) endless |
20 | ControlLoopClosed | Axis is ready for operation and axis control loop is closed (e.g. position control) |
21 | CamTableQueued | CAM table is queued for "Online Change" and waiting for activation |
22 | CamDataQueued | CAM data (only MF) are queued for "Online Change" and waiting for activation |
23 | CamScalingPending | CAM scaling are queued for "Online Change" and waiting for activation |
24 | CmdBuffered | Following command is queued in then command buffer (s. Buffer Mode) |
25 | PTPmode | Axis in PTP mode (no slave, no NCI axis, no FIFO axis) (from TC 2.10 Build 1326) |
26 | SoftLimitMinExceeded | Position software limit switch minimum is exceeded (from TC 2.10 Build 1327) |
27 | SoftLimitMaxExceeded | Position software limit switch maximum is exceeded (from TC 2.10 Build 1327) |
28 | DriveDeviceError | Hardware drive device error (no warning), interpretation only possible when drive is data exchanging, |
29 | MotionCommandsLocked | Axis is locked for motion commands (TcMc2) |
30 | IoDataInvalid | IO data invalid (e.g. 'WcState' or 'CdlState') |
31 | Error | Axis is in a fault state |